ESP32-S3 摄像头图传：固件 + Slint 客户端 + 共享协议
两块 ESP32-S3-WROOM-1-N16R8 图传板（DVP 接口接 OV2640/OV3660/OV5640）， 向队伍客户端与裁判终端推 UDP 图传。固件是跑在 ESP-IDF 上的 Rust，用官方 esp32-camera 组件采集；客户端是 Rust + Slint 桌面程序。 三个 crate 各自独立构建： . firmware，交叉编译到 Xtensa protocol/ 线路格式与帧重组，两端共用，无 ESP-IDF 依赖，有单元测试 client/ Slint 桌面客户端 视频走 UDP 而非 TCP：实测传感器产出 22 fps，TCP MJPEG 只送出 1.9 fps， 且只占用链路能力的 1%——链路是空的，帧堵在队头阻塞后面等一个实时画面 等不起的重传计时器。改为独立数据报、不重传、缺片丢整帧后达到 20.8 fps。 发现是双向的：板子每 2 秒广播 Hello，客户端广播 Subscribe，板子据此定向 推流。板子身份由 MAC 派生，重启不变，所以客户端可以把绑定存进配置。 裁判端同时收两块板子（每个发送方一个重组器），队伍端绑定其中一块并只显示 自己那一边的血量。装甲板接口已预留（ArmorSource trait + ARMOR_PORT）， 当前无数据源，界面显示占位符。 vendor 了 esp32-camera 2.1.7：组件注册表的版本求解器找不到它，且需要打一处 补丁（见 components/esp32-camera/target/esp32s3/ll_cam.c）。 .gitignore 三条 target/ 都锚定在根目录，因为 protocol/ 与 client/ 各自也是 独立 crate；而 components/esp32-camera/target/ 是上游的按芯片分目录，里面是 源码，必须保留。
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Horldsence
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#ifndef _GC0308_SETTINGS_H_
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#define _GC0308_SETTINGS_H_
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#include <stdint.h>
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#define REG_DLY 0xff
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static const uint8_t gc0308_sensor_default_regs[][2] = {
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{0xfe, 0x00},
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{0xec, 0x20},
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{0x05, 0x00},
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{0x06, 0x00},
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{0x07, 0x00},
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{0x08, 0x00},
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{0x09, 0x01},
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{0x0a, 0xe8},
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{0x0b, 0x02},
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{0x0c, 0x88},
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{0x0d, 0x02},
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{0x0e, 0x02},
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{0x10, 0x26},
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{0x11, 0x0d},
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{0x12, 0x2a},
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{0x13, 0x00},
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{0x14, 0x10}, // Linux kernel: CISCTL_MODE1 = 0x10 (no mirror/flip by default)
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{0x15, 0x0a},
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{0x16, 0x05},
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{0x17, 0x01},
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{0x18, 0x44},
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{0x19, 0x44},
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{0x1a, 0x2a},
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{0x1b, 0x00},
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{0x1c, 0x49},
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{0x1d, 0x9a},
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{0x1e, 0x61},
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{0x1f, 0x00}, //pad drv <=24MHz, use 0x00 is ok
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{0x20, 0x7f},
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{0x21, 0xfa},
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{0x22, 0x57},
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{0x24, 0xa2}, //YCbYCr
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{0x25, 0x0f},
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{0x26, 0x03}, // 0x01
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{0x28, 0x00},
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{0x2d, 0x0a},
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{0x2f, 0x01},
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{0x30, 0xf7},
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{0x31, 0x50},
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{0x32, 0x00},
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{0x33, 0x28},
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{0x34, 0x2a},
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{0x35, 0x28},
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{0x39, 0x04},
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{0x3a, 0x20},
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{0x3b, 0x20},
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{0x3c, 0x00},
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{0x3d, 0x00},
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{0x3e, 0x00},
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{0x3f, 0x00},
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{0x50, 0x14}, // GLOBAL_GAIN = 0x14 (default gain)
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{0x52, 0x41},
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{0x53, 0x80},
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{0x54, 0x80},
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{0x55, 0x80},
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{0x56, 0x80},
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// AWB Gain initialization (from Linux kernel driver)
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{0x5a, 0x56}, // AWB_R_GAIN: Red gain for auto white balance
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{0x5b, 0x40}, // AWB_G_GAIN: Green gain for auto white balance
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{0x5c, 0x4a}, // AWB_B_GAIN: Blue gain for auto white balance
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{0x8b, 0x20},
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{0x8c, 0x20},
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{0x8d, 0x20},
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{0x8e, 0x14},
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{0x8f, 0x10},
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{0x90, 0x14},
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{0x91, 0x3c},
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{0x92, 0x50},
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//{0x8b,0x10},
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//{0x8c,0x10},
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//{0x8d,0x10},
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//{0x8e,0x10},
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//{0x8f,0x10},
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//{0x90,0x10},
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//{0x91,0x3c},
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//{0x92,0x50},
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{0x5d, 0x12},
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{0x5e, 0x1a},
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{0x5f, 0x24},
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{0x60, 0x07},
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{0x61, 0x15},
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{0x62, 0x08}, // 0x08
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{0x64, 0x03}, // 0x03
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{0x66, 0xe8},
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{0x67, 0x86},
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{0x68, 0x82},
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{0x69, 0x18},
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{0x6a, 0x0f},
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{0x6b, 0x00},
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{0x6c, 0x5f},
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{0x6d, 0x8f},
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{0x6e, 0x55},
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{0x6f, 0x38},
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{0x70, 0x15},
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{0x71, 0x33},
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{0x72, 0xdc},
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{0x73, 0x00},
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{0x74, 0x02},
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{0x75, 0x3f},
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{0x76, 0x02},
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{0x77, 0x38}, // 0x47
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{0x78, 0x88},
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{0x79, 0x81},
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{0x7a, 0x81},
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{0x7b, 0x22},
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{0x7c, 0xff},
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{0x93, 0x48}, //color matrix default
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{0x94, 0x02},
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{0x95, 0x07},
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{0x96, 0xe0},
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{0x97, 0x40},
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{0x98, 0xf0},
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{0xb1, 0x40},
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{0xb2, 0x40},
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{0xb3, 0x40}, //0x40
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{0xb6, 0xe0},
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{0xbd, 0x38},
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{0xbe, 0x36},
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{0xd0, 0xCB},
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{0xd1, 0x10},
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{0xd2, 0x90},
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{0xd3, 0x48},
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{0xd5, 0xF2},
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{0xd6, 0x16},
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{0xdb, 0x92},
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{0xdc, 0xA5},
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{0xdf, 0x23},
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{0xd9, 0x00},
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{0xda, 0x00},
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{0xe0, 0x09},
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{0xed, 0x04},
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{0xee, 0xa0},
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{0xef, 0x40},
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{0x80, 0x03},
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{0x9F, 0x10},
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{0xA0, 0x20},
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{0xA1, 0x38},
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{0xA2, 0x4e},
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{0xA3, 0x63},
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{0xA4, 0x76},
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{0xA5, 0x87},
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{0xA6, 0xa2},
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{0xA7, 0xb8},
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{0xA8, 0xca},
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{0xA9, 0xd8},
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{0xAA, 0xe3},
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{0xAB, 0xeb},
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{0xAC, 0xf0},
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{0xAD, 0xF8},
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{0xAE, 0xFd},
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{0xAF, 0xFF},
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{0xc0, 0x00},
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{0xc1, 0x10},
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{0xc2, 0x1c},
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{0xc3, 0x30},
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{0xc4, 0x43},
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{0xc5, 0x54},
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{0xc6, 0x65},
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{0xc7, 0x75},
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{0xc8, 0x93},
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{0xc9, 0xB0},
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{0xca, 0xCB},
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{0xcb, 0xE6},
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{0xcc, 0xFF},
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{0xf0, 0x02},
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{0xf1, 0x01},
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{0xf2, 0x02},
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{0xf3, 0x30},
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{0xf7, 0x04},
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{0xf8, 0x02},
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{0xf9, 0x9f},
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{0xfa, 0x78},
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{0xfe, 0x01},
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{0x00, 0xf5},
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{0x02, 0x20},
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{0x04, 0x10},
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{0x05, 0x08},
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{0x06, 0x20},
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{0x08, 0x0a},
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{0x0a, 0xa0},
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{0x0b, 0x60},
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{0x0c, 0x08},
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{0x0e, 0x44},
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{0x0f, 0x32},
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{0x10, 0x41},
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{0x11, 0x37},
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{0x12, 0x22},
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{0x13, 0x19},
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{0x14, 0x44},
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{0x15, 0x44},
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{0x16, 0xc2},
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{0x17, 0xA8},
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{0x18, 0x18},
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{0x19, 0x50},
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{0x1a, 0xd8},
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{0x1b, 0xf5},
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{0x70, 0x40},
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{0x71, 0x58},
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{0x72, 0x30},
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{0x73, 0x48},
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{0x74, 0x20},
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{0x75, 0x60},
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{0x77, 0x20},
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{0x78, 0x32},
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{0x30, 0x03},
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{0x31, 0x40},
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{0x32, 0x10},
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{0x33, 0xe0},
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{0x34, 0xe0},
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{0x35, 0x00},
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{0x36, 0x80},
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{0x37, 0x00},
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{0x38, 0x04},
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{0x39, 0x09},
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{0x3a, 0x12},
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{0x3b, 0x1C},
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{0x3c, 0x28},
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{0x3d, 0x31},
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{0x3e, 0x44},
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{0x3f, 0x57},
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{0x40, 0x6C},
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{0x41, 0x81},
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{0x42, 0x94},
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{0x43, 0xA7},
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{0x44, 0xB8},
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{0x45, 0xD6},
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{0x46, 0xEE},
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{0x47, 0x0d},
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{0x62, 0xf7},
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{0x63, 0x68},
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{0x64, 0xd3},
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{0x65, 0xd3},
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{0x66, 0x60},
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{0xfe, 0x00},
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{0x01, 0x32}, //frame setting
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{0x02, 0x0c},
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{0x0f, 0x01},
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{0xe2, 0x00},
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{0xe3, 0x78},
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{0xe4, 0x00},
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{0xe5, 0xfe},
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{0xe6, 0x01},
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{0xe7, 0xe0},
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{0xe8, 0x01},
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{0xe9, 0xe0},
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{0xea, 0x01},
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{0xeb, 0xe0},
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{0xfe, 0x00},
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};
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#endif
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